Development of a Medical Space Cleaning Robot with Path Planning and Travel Offset Correction Capability

• Main Authors: Liao, Tsung-I, 廖宗義
• Other Authors: Chen, Wen-Ping
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/rcy8xs

博士 === 國立高雄科技大學 === 電機工程系 === 107 === Including the medical institutions, the cleaning of large-scale public spaces is currently performed by workers driving large cleaning machines entrusted by companies, and it takes a lot of manpower to carry out day and night. Therefore, this study proposes a cleaning robot that maps large indoor spaces using laser scanning and planning the space of cleaning path automatically. The study uses the extended features of the Robot Operating System (ROS) to perform spatial clean path planning and path modification using Light Detection and Ranging (LIDAR) and infrared Sensor. The left and right primary wheels are designed to allow the robot may turn around in the field, and the distance values measured by the infrared sensor is used to assist the movement of the straight line, edge, and the steering, and the boustrophedon path. The experiment result at hospital’s area was shown that the map scanning construction, path planning, and various path tests required to consider the actual conditions of the cleaning robot can be successfully completed. In the future, it will replace the cleaning work in the public facilities, and can be used for automatic cleaning and inspection of large indoor spaces to solve problems such as labor shortages and overwork, and reduce infections caused by medical environment and space problems